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Architectural and functional classification of smart grid solutions

Energy Informatics 2019年第1期2卷 1页

作者： Wenderoth, Friederike Drayer, Elisabeth Schmoll, Robert Niedermeier, Michael Braun, Martin Department Grid Planning and Grid Operation Fraunhofer IEE Kassel Germany Department of Energy Management and Power System Operation University of Kassel Kassel Germany Department of Electrical and Computer Engineering Ben-Gurion University of the Negev Beer Sheva Israel Department of Measurement and Control University of Kassel Kassel Germany Chair of Computer Networks and Computer Communications University of Passau Passau Germany

Historically, the power distribution grid was a passive system with limited control capabilities. Due to its increasing digitalization, this paradigm has shifted: the passive architecture of the power system itself, which includes cables, lines, and transformers, is extended by a communication infrastructure to become an active distribution grid. This transformation to an active system results from control capabilities that combine the communication and the physical components of the grid. It aims at optimizing, securing, enhancing, or facilitating the power system operation. The combination of power system, communication, and control capabilities is also referred to as a "smart grid". A multitude of different architectures exist to realize such integrated systems. They are often labeled with descriptive terms such as "distributed," "decentralized," "local," or "central." However, the actual meaning of these terms varies considerably within the research *** paper illustrates the conflicting uses of prominent classification terms for the description of smart grid architectures. One source of this inconsistency is that the development of such interconnected systems is not only in the hands of classic power engineering but requires input from neighboring research disciplines such as control theory and automation, information and telecommunication technology, and electronics. This impedes a clear classification of smart grid solutions. Furthermore, this paper proposes a set of well-defined operation architectures specialized for use in power systems. Based on these architectures, this paper defines clear classifiers for the assessment of smart grid solutions. This allows the structural classification and comparison between different smart grid solutions and promotes a mutual understanding between the research disciplines. This paper presents revised parts of Chapters 4.2 and 5.2 of the dissertation of Drayer (Resilient Operation of Distribution Grids with Dis

关键词： Smart power grids

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Stable Model-based control with Gaussian Process Regression for Robot Manipulators

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IFAC-PapersOnLine 2017年第1期50卷 3877-3884页

作者： Beckers T. Umlauft J. Hirche S. Chair of Information-oriented Control (ITR) Department of Electrical and Computer Engineering Technical University of Munich Germany

Computed-torque control requires a very precise dynamical model of the robot for compensating the manipulator dynamics. This allows reduction of the controller's feedback gains resulting in disturbance attenuation and other advantages. Finding precise models for manipulators is often difficult with parametric approaches, e.g. in the presence of complex friction or flexible links. Therefore, we propose a novel computed-torque control law which consists of a PD feedback and a dynamic feed forward compensation part with Gaussian Processes. For this purpose, the nonparametric Gaussian Process regression infers the difference between an estimated and the true dynamics. In contrast to other approaches, we can guarantee that the tracking error is stochastically bounded. Furthermore, if the number of training points tends to infinity, the tracking error is asymptotically stable in the large. In simulation and with an experiment, we demonstrate the applicability of the proposed control law and that it outperforms classical computed-torque approaches in terms of tracking precision. © 2017

关键词： Adaptive system control Data-based control Nonparametric methods robotic manipulators Stability of nonlinear systems Stochastic control

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Towards multi-object detection and tracking in urban scenario under uncertainties 4

Towards multi-object detection and tracking in urban scenari...

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4th International Conference on Vehicle Technology and Intelligent Transport Systems, VEHITS 2018

作者： Kampker, Achim Sefati, Mohsen Abdul Rachman, Arya S. Kreisköther, Kai Campoy, Pascual Chair of Production Engineering of E-Mobility Components RWTH Aachen University Aachen Germany Delft Center for Systems and Control Delft University of Technology Delft Netherlands Computer Vision and Aerial Robotics Group Centre of Automatics and Robotics Universidad Politécnica de Madrid Madrid Spain

ISBN: (纸本)9789897582936

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance the vehicle perception. We present a real-time integrated framework of multi-target object detection and tracking using 3D LIDAR geared toward urban use. Our approach combines sensor occlusion-aware detection method with computationally efficient heuristics rule-based filtering and adaptive probabilistic tracking to handle uncertainties arising from sensing limitation of 3D LIDAR and complexity of the target object movement. The evaluation results using real-world pre-recorded 3D LIDAR data and comparison with state-of-the-art works shows that our framework is capable of achieving promising tracking performance in the urban situation. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved.

关键词： Autonomous vehicles

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Optimal LQG control under delay-dependent costly information

arXiv

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arXiv 2018年

作者： Maity, Dipankar Mamduhi, Mohammad H. Hirche, Sandra Johansson, Karl Henrik Baras, John S. Department of Electrical & Computer Engineering Institute for Systems Research University of Maryland United States Department of Automatic Control Royal Institute of Technology StockholmSE-100 44 Sweden Chair of Information-Oriented Control Technical University of Munich Arcisstraße 21 MünchenD-80290 Germany

In the design of closed-loop networked control systems (NCSs), induced transmission delay between sensors and the control station is an often-present issue which compromises control performance and may even cause instability. A very relevant scenario in which network-induced delay needs to be investigated is costly usage of communication resources. More precisely, advanced communication technologies, e.g. 5G, are capable of offering latency-varying information exchange for different prices. Therefore, induced delay becomes a decision variable. It is then the matter of decision maker's willingness to either pay the required cost to have low-latency access to the communication resource, or delay the access at a reduced price. In this article, we consider optimal price-based bi-variable decision making problem for single-loop NCS with a stochastic linear time-invariant system. Assuming that communication incurs cost such that transmission with shorter delay is more costly, a decision maker determines the switching strategy between communication links of different delays such that an optimal balance between the control performance and the communication cost is maintained. In this article, we show that, under mild assumptions on the available information for decision makers, the separation property holds between the optimal link selecting and control policies. As the cost function is decomposable, the optimal policies are efficiently computed. Copyright © 2018, The Authors. All rights reserved.

关键词： Decision making

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Towards Multi-Object Detection and Tracking in Urban Scenario under Uncertainties

arXiv

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arXiv 2018年

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance the vehicle perception. We present a real-time integrated framework of multitarget object detection and tracking using 3D LIDAR geared toward urban use. Our approach combines sensor occlusion-aware detection method with computationally efficient heuristics rule-based filtering and adaptive probabilistic tracking to handle uncertainties arising from sensing limitation of 3D LIDAR and complexity of the target object movement. The evaluation results using real-world pre-recorded 3D LIDAR data and comparison with state-of-the-art works shows that our framework is capable of achieving promising tracking performance in the urban situation. Copyright © 2018, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Quantitative implementation strategies for safety controllers

arXiv

引用

arXiv 2017年

作者： Meyer, Philipp J. Rungger, Matthias Luttenberger, Michael Esparza, Javier Zamani, Majid Professorship for Hybrid Control Systems Department of Electrical and Computer Engineering Technical University of Munich Chair for Foundations of Software Reliability and Theoretical Computer Science Department of Informatics Technical University of Munich

We consider the symbolic controller synthesis approach to enforce safety specifications on perturbed, nonlinear control systems. In general, in each state of the system several control values might be applicable to enforce the safety requirement and in the implementation one has the burden of picking a particular control value out of possibly many. We present a class of implementation strategies to obtain a controller with certain performance guarantees. This class includes two existing implementation strategies from the literature, based on discounted payoff and mean-payoff games. We unify both approaches by using games characterized by a single discount factor determining the implementation. We evaluate different implementations from our class experimentally on two case studies. We show that the choice of the discount factor has a significant influence on the average long-term costs, and the best performance guarantee for the symbolic model does not result in the best implementation. Comparing the optimal choice of the discount factor here with the previously proposed values, the costs differ by a factor of up to 50. Our approach therefore yields a method to choose systematically a good implementation for safety controllers with quantitative objectives. Copyright © 2017, The Authors. All rights reserved.

关键词： controllers

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RAMCIP - A Service Robot for MCI Patients at Home

RAMCIP - A Service Robot for MCI Patients at Home

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2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Georgia Peleka Andreas Kargakos Evangelos Skartados Ioannis Kostavelis Dimitrios Giakoumis Iason Sarantopoulos Zoe Doulgeri Michalis Foukarakis Margherita Antona Sandra Hirche Emannuele Ruffaldi Bartlomiej Stanczyk Anastasios Zompas Joan Hernandez-Farigola Natalia Roberto Konrad Rejdak Dimitrios Tzovaras Centre for Research and Technology Hellas / Information Technologies Institute (CERTH/ITI) Thessaloniki Greece Thessaloniki Greece Aristotle University of Thessaloniki Institute of Computer Science FORTH-ICS Crete Greece Chair of Information-oriented Control Technical University of Munich Munich Germany Scuola Superiore Sant’ Anna Pisa Italy ACCREA Engineering Lublin Poland The Shadow Robot Company London UK Alzheimer Research Center and Memory Clinic of Fundacio ACE Institut Catala de Neurociencies Aplicades Barcelona Catalonia Spain Department of Neurology Medical University of Lublin Lublin Poland

ISBN: (纸本)9781538680957;9781538680940

This video features RAMCIP, a new service robot developed to provide proactive and discreet assistance to elderly with Mild Cognitive Impairments (MCI), supporting their daily activities at home. Starting with a thorough analysis of needs and requirements of the target population, the RAMCIP robot was developed as an integrated ensemble of advanced H/W and S/W components, realizing the robot skills of perception, cognition, safe navigation, grasping, manipulation, and human-robot communication, ample to operate in real, rather challenging domestic environments. The RAMCIP use-cases include proactive assistance provision to user's cooking, eating and medication activities, through discreet user monitoring and robot interventions by reminders and robotic manipulations., RAMCIP can bring the medicine, recognize fallen objects and electric appliance that has been forgotten turned on. It also recognizes the user walking in low-light conditions and turns on the light, as well as detects cases of emergency such as a fall. The robot provides also the user with cognitive training games and stimulates the user to contact with relatives through video-calls. Pilot trials of the RAMCIP robot have been performed in real homes of more than ten different users, in Barcelona, Spain; the video at hand exhibits the robot performing the target use cases.

关键词： Service robots Information technology Intelligent robots computer science Companies Random access memory

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Modeling and Iterative Learning control of a Circular Deformable Mirror

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IFAC-PapersOnLine 2017年第1期50卷 3117-3122页

作者： Cichy B. Augusta P. Gałkowski K. Rauh A. Aschemann H. Rogers E. Rehák B. Institute of Control and Computation Engineering University of Zielona Góra ul. Szafrana 2 Zielona Góra 65-516 Poland Institute of Information Theory and Automation The Czech Academy of Sciences Pod Vod´arenskou věží 4 Prague CZ-182 08 Czech Republic Chair of Mechatronics University of Rostock Justus-von-Liebig-Weg 6 Rostock D-18059 Germany Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom

An unconditionally stable finite difference scheme for systems whose dynamics are described by a fourth-order partial differential equation is developed using a regular hexagonal grid. The scheme is motivated by the well-known Crank-Nicolson discretization that was originally developed for second-order systems and it is used in this paper to develop a discrete in time and space model of a deformable mirror as a basis for control law design. As one example, the resulting model is used for iterative learning control law design and supporting numerical simulations are given. © 2017

关键词： control of partial differential equations Iterative learning control Linear systems N-dimensional systems Stability of distributed parameter systems

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Stability of Gaussian Process State Space Models

Stability of Gaussian Process State Space Models

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European control Conference

作者： Thomas Beckers Sandra Hirche the Chair of Information-oriented Control (ITR) Department of Electrical and Computer Engineering Technical University of Munich D-80333 Munich

ISBN: (纸本)9781509025923

Gaussian Process State Space Models (GP-SSMs) are a non-parametric model class suitable to represent nonlinear dynamics. They become increasingly popular in data-driven modeling approaches, i.e. when no first-order physics-based models are available. Although a GP-SSM produces well-behaved approximations and gains increasing popularity, the fundamental system dynamics are just sparsely researched. In this paper, we present stability results for the GP-SSM depending on selected covariance function employing a deterministic point of view as widely done in the literature. The focus is set on the squared exponential function which is one of the most used covariance functions for nonlinear regression. We start with calculations according to the equilibrium points of GP-SSM and continue with conditions for stability.

关键词： Stability GP-SSMs continue

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Add-on module of Active Disturbance Rejection for set-point tracking of motion control systems

Add-on module of Active Disturbance Rejection for set-point ...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Wenchao Xue Rafal Madonski Zhiqiang Gao Yi Huang Krzysztof Lakomy Key laboratory of Systems and Control Chinese Academy of Sciences Beijing P. R. China Chair of Control and Systems Engineering Poznan University of Technology Poland Department of Electrical and Computer Engineering Cleveland State University Cleveland Ohio U.S.A.

ISBN: (纸本)9781479983988

Active Disturbance Rejection control (ADRC) as a standalone motion solution has been adopted by companies such as Texas Instruments and Danfoss and made available on various proprietary industrial platforms. The idea of ADRC, however, can be integrated with the existing control technologies seamlessly, as shown in this paper. It is shown a modularized ADRC design for set-point tracking of motion control such that better uncertainty rejection can be implemented without any change in the existing proportional-derivative (PD) control with linear observer. We prove that certain integration of the observer's error can serve as an estimation for the “total disturbance” in low frequency range. This enables the estimation and cancellation of the “total disturbance” to be incorporated into the existing control loop. Also, a comparison between the methods with and without such “module” is discussed. The proposed ADRC is implemented and validated with experimental results for a 1-degree of freedom robotic manipulator, where desired set-point tracking performance in position control is achieved under unknown mass variations and sudden external disturbances.

关键词： Observers Motion control Tracking Transient analysis

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